arXiv subjects

Martín Molina

Publications and source records attributed to Martín Molina.

12 recordsLinked to original sources

arXiv2026

A Taxonomy on Collective Awareness

As robotic teams tackle increasingly complex tasks in dynamic and unstructured environments, effective coordination requires agents to maintain accurate, aligned representations of their environment, teammates, and mission state. We argue that Mutual Awareness, Shared Situational Awareness, and Team Situational Awareness --- three concepts widely invoked in the multi-robot systems literature --- are not interchangeable: they form a containment hierarchy in which each type subsumes the previous in scope, and span a distribution spectrum from fully individualized understanding (MA) to fully uniform understanding (SSA), with TSA occupying a mixed position. We establish this through a two-dimensional taxonomy organized along the object of awareness and awareness distribution axes. Treating these terms as synonyms obscures the precise coordination requirements each imposes on a robotic system. A Search and Rescue case study with heterogeneous aerial and ground robots grounds each taxonomy position in concrete coordination requirements. These findings provide a conceptual foundation for principled specification, design, and comparison of collective awareness in multi-robot systems.

cs.RO↗

arXiv2026

Decoding multiway gravitational junctions in AdS in terms of holographic quantum maps

It has been shown that multiway junctions gluing $n$ copies of locally AdS$_3$ spacetimes ($n\geq 2$) can be described by $n-1$ strings obeying non-linear Nambu-Goto equations coupled by Monge-Ampère like terms. Here we study how such junctions along with their stringy degrees of freedom can be interpreted in terms of an interface between $n$ identical holographic conformal theories each defined on a semi-infinite line (wire). We study the gravitational scattering problem at the multiway junction, and show that at the linearized order the dual interfaces correspond to quantum maps which factorize into a product of a scattering matrix determined only by the tension of the dual junction and relative automorphisms of the Virasoro algebra governed by the $n-1$ stringy modes. Both of these are universal in the sense that they are independent of linear modifications of the background state. These generalize earlier results for the 2-way junctions implying that the dual interface is a tunable energy transmitter. We comment on understanding the quantum map corresponding to the full non-linear gravitational problem, and study Ward identities and unitarity bounds.

hep-th↗

arXiv2026

Junctions, strings, clocks and gravitational memory in three dimensional dS space

We show that non-trivial stringy excitations in Lorentzian three dimensional de Sitter spacetime can be created self-consistently from gravitational memory in the infinite past. In addition to demonstrating that the Nambu-Goto equations for the string emerge from the two-way gravitational junction conditions, we establish the existence of well-behaved solutions corresponding to transient fluctuations of a closed string about the equator which are both borne out of and dissolve to distinct gravitational memory in the infinite past and future, respectively. The memory at infinite past, which uniquely characterizes such a solution, is a single function giving the relative angular shift at the junction gluing two two-dimensional hemispheres. This reveals that a clock dynamically emerges in the presence of a gravitational junction without the need of any external observer. We also show that our results generalize to the $n$-way gravitational junctions with $n\geq 3$, which are captured by Nambu-Goto-Monge-Ampère equations for coupled $n-1$ strings -- these degrees of freedom exist even in the tensionless limit. Furthermore, for $n\geq 3$, $n-1$ correlated clocks dynamically emerge without the need of external observers in the tensionless limit, revealing a novel feature of pure three-dimensional gravity.

hep-th↗

arXiv2026

Decoding the string in terms of holographic quantum maps

It has recently been shown that the Nambu-Goto equation for a string emerges from the junction conditions in three-dimensional gravity. Holographically, gravitational junctions are dual to interfaces in conformal field theory. We demonstrate at the level of linearized gravitational perturbations that each stringy mode of the junction corresponds to a $\mathcal{H}_{in}\rightarrow \mathcal{H}_{out}$ quantum map which can be factorized into a scattering matrix involving reflection/transmission and a relative automorphism of the Virasoro algebra, and also a $\mathcal{H}_{L}\rightarrow \mathcal{H}_{R}$ map of similar nature. These maps preserve the conformal boundary condition, are independent of the background conformal frame, as in the case of conformal interfaces studied in the literature, and realize a tunable energy transmitter.

hep-th↗

arXiv2026

The degrees of freedom of multiway junctions in three dimensional gravity

We demonstrate that $n$-way junctions in three dimensional gravity correspond to coupled $n-1$ strings each satisfying the Nambu-Goto equation in the smoothened background, and with sources consisting of Monge-Ampère like terms which couple the strings. For $n\geq 3$, these $n-1$ degrees of freedom survive the tensionless limit implying that matter-like behavior can arise out of \textit{pure} gravity. We interpret these stringy degrees of freedom of gravitational junctions holographically in terms of wavepackets which collectively undergo perfect reflection at the multi-interface in the dual conformal field theory.

hep-th↗

arXiv2024

Generalized conformal quantum mechanics as an ideal observer in two-dimensional gravity

We obtain an action for a generalized conformal mechanics (GCM) coupled to Jackiw-Teitelboim (JT) gravity from a double scaling limit of the motion of a charged massive particle in the near-horizon geometry of a near-extremal spherical black hole. When JT gravity is treated in the classical approximation, the backreaction of the particle's wavefunction on the time-reparametrization mode (and therefore the bulk metric) vanishes while the conformal symmetry in GCM is reparametrized in a state-dependent way. We also construct the semi-classical Hilbert space of the full theory by explicitly solving the general time-dependent normalizable solutions of the Schrödinger equation for GCM, and show that the time-reparametrization mode can be inferred from the measurement of suitable observables. Since the full theory of the GCM coupled to JT gravity is amenable to quantization, it can lead to a solvable model for a detector coupled to quantum gravity.

hep-th↗

arXiv2023

Carathéodory's thermodynamics of the Schwarzschild black hole surrounded by quintessence

In this paper, we apply the Carathéodory's method of geometrothermodynamics to investigate the behavior of the main thermodynamic parameters associated with a Schwarzschild black hole surrounded by quintessence. The corresponding Pfaffian form is constructed by means of the Schwarzschild radius $r_s$, and the quintessential radius $r_γ$ as independent variables. This form is then used to characterize the thermodynamic manifold. The homogeneity of the system allows for the recognition of the empirical temperature and entropy, and thus, connects with the usual laws of thermodynamics. In particular, we show that the Helmholtz and Gibbs free energies lead to the same value for the Schwarzschild black hole, in the case of the vanishing cosmological term.

gr-qc↗

arXiv2021

Adiabatic evolution of Hayward black hole

In this letter we use the Carathéodory's approach to thermodynamics, to construct the thermodynamic manifold of the Hayward black hole. The Pfaffian form representing the infinitesimal heat exchange reversibly is considered to be $δQ_{\mathrm{rev}}\equiv {\rm d}r_s-\mathcal{F}_H {\rm d}l$, previously obtained by Molina \& Villanueva \cite{fmv20}, where $r_s$ is the Schwarzschild radius, $l$ is the Hayward's parameter responsible for the possible regularization of the Schwarzschild black hole, and $\mathcal{F}_H$ is the intensive variable called the Hayward's force. By solving the associated Cauchy problem, the adiabatic paths are confined to the non-extremal manifold, and therefore, the status of the second and third laws are preserved. Consequently, the extremal sub-manifold corresponds to the {adiabatically disconnected} boundary of the manifold. In addition, the merger of two extremal Hayward black holes is analyzed.

gr-qc↗

arXiv2021

On the thermodynamics of the Hayward black hole

In light of the growing interest in the Hayward black hole solution, a detailed study on the corresponding lapse function and its roots is presented. The lapse function is expressed in terms of the classical Schwarzschild radius $r_s$ and the Hayward's parameter $l$. Both of these quantities are used as thermodynamic variables to find related thermodynamic quantities. In this context, the variable $l$ is associated with a canonical conjugate variable $\mathcal{F}_H$, and a free energy $Ξ$. Moreover, a second order phase transition is found to appears at $l\approx0.333\,r_s$.

gr-qc↗

arXiv2020

A Machine Consciousness architecture based on Deep Learning and Gaussian Processes

Recent developments in machine learning have pushed the tasks that machines can do outside the boundaries of what was thought to be possible years ago. Methodologies such as deep learning or generative models have achieved complex tasks such as generating art pictures or literature automatically. On the other hand, symbolic resources have also been developed further and behave well in problems such as the ones proposed by common sense reasoning. Machine Consciousness is a field that has been deeply studied and several theories based in the functionalism philosophical theory like the global workspace theory or information integration have been proposed that try to explain the ariseness of consciousness in machines. In this work, we propose an architecture that may arise consciousness in a machine based in the global workspace theory and in the assumption that consciousness appear in machines that has cognitive processes and exhibit conscious behaviour. This architecture is based in processes that use the recent developments in artificial intelligence models which output are these correlated activities. For every one of the modules of this architecture, we provide detailed explanations of the models involved and how they communicate with each other to create the cognitive architecture.

cs.AI↗

arXiv2019

Survey of Bayesian Networks Applications to Intelligent Autonomous Vehicles

This article reviews the applications of Bayesian Networks to Intelligent Autonomous Vehicles (IAV) from the decision making point of view, which represents the final step for fully Autonomous Vehicles (currently under discussion). Until now, when it comes making high level decisions for Autonomous Vehicles (AVs), humans have the last word. Based on the works cited in this article and analysis done here, the modules of a general decision making framework and its variables are inferred. Many efforts have been made in the labs showing Bayesian Networks as a promising computer model for decision making. Further research should go into the direction of testing Bayesian Network models in real situations. In addition to the applications, Bayesian Network fundamentals are introduced as elements to consider when developing IAVs with the potential of making high level judgement calls.

cs.AI↗

arXiv2018

Null paths on a toroidal topological black hole in conformalWeyl gravity

The motion of massless particles on the background of a toroidal topological black hole is analyzed in the context of conformal Weyl gravity. Null geodesics, in terms of the Jacobi elliptic functions, are found analytically. In addition, the Sagnac effect in this space-time is characterized, and we find a strong condition in the theory's parameters that is required for its existence.

gr-qc↗